Call For Paper Volume:4 Issue:10 Oct'2017 |

Design OF Autonomous Navigation System Using Adaptive Tracking Fuzzy Controller (ATFC) and Particle Swarm Optimization (PSO)

Publication Date : 20/04/2015



Author(s) :

Pallavi lingawar , Jajulwar, Dr. A. , Dr. A. Y. Deshmukh.


Volume/Issue :
Volume 2
,
Issue 4
(04 - 2015)



Abstract :

This paper proposes a Particle Swarm Optimization (PSO) based algorithm for optimization in indoor environment for mobile robot navigation using the concept of Adaptive Fuzzy Tracking Controller (AFTC). The objective is to Design adaptive fuzzy Tracking controller for x-direction and y-direction movement. Mostly it is used in Robot Localization, Obstacle avoidance, Mapping, Recognizing people and objects And Learn how to interact with objects in Robot Navigation. In order to Achieve navigation in indoor environment it works on three behaviour i.e. move_to_goal, update information and avoid_the_obstacle. In this System it calculates the reference path and using Particle Swarm Optimization technique, it will reduce time required to reach the target. Fuzzy tracking controller will be used to direct the system to the destination which will help system to overcome the obstacles in the path and reach the accurate destination. The Accuracy of this method is to verify required result in different types of environments by simulation software Matrix Lab.


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Design OF Autonomous Navigation System Using Adaptive Tracking Fuzzy Controller (ATFC) and Particle Swarm Optimization (PSO)

April 20, 2015